import pandas as pd

DEFAULT_HEIGHT = 1.0
DEFAULT_LENGTH = 1.0
DEFAULT_YAW = 0.0
DEFAULT_DURATION = 1.5

traj_square = {
    'duration':[
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
    ],
	'1': [
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
	],
 	'2': [
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],	 
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
 	], 	
 	'3': [
		[DEFAULT_LENGTH, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],	 
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
 	], 
 	'4': [
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],	 
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
 	], 
}

traj_line = {
    'duration':[
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
        DEFAULT_DURATION, 
    ],
	'1': [
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
	],
 	'2': [
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, -DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
 	], 	
 	'3': [
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[-DEFAULT_LENGTH, 0.0, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
		[0.0, DEFAULT_LENGTH, DEFAULT_HEIGHT, DEFAULT_YAW],
 	], 
}


df_square = pd.DataFrame(traj_square)
df_line = pd.DataFrame(traj_line)

df_square.to_csv('formation/square.csv', header=True, index=False)
df_line.to_csv('formation/line.csv', header=True, index=False)